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SOLUTIONS IN MOTION®
• ARC WELDING •
MA3100MA3100IMPROVED PART ACCESS
PATENTED ARM DESIGN
TOP REASONS TO BUYn Longest-reach arc welding robot
with integrated torch cablen Streamlined design improves
torch access into tight spacesn Patented multiple robot control
allows more arms to be combined in workcell
n Extra-long arm reduces need for tracks
nBackedbyindustry’sfirsttwo-yeartorchcable warranty.
DX100 Controllern Patented multiple robot control supports
up to 8 robots/72 axes.n Windows® CE programming pendant with
color touch screen and USB interface.n DX100 welding full function arc welding
software including graphics-based weld filesettings.
n Faster processing speeds for smoother interpolation. Quicker I/O response. Accelerated Ethernet communication.
n Extensive I/O suite includes integral PLC and touch screen HMI, 2,048 I/O and graphical ladder editor.
nSupportsallmajorfieldbusnetworks,includingEtherNet/IP,DeviceNet,Profibus-DP and many others.
n Compliant to ANSI/RIA R15.06-1999 and other relevant ISO and CSA safety standards. Optional Category 3 functional safety unit.
“Master Arc” Welding Robot Extra-Long, Streamlined and Powerfuln Reduces welding cycle time due to cutting-
edge Sigma-5 AC servo motor control technology and new ARM (Advanced Robot Motion) control.
n 3,121 mm reach; ±0.15 mm repeatability.n Integrated through-the-arm torch cabling
eliminatescableinterference,simplifiesprogramming and reduces cable wear.
n Feeder cable and welding utilities (gas and air hoses) can be routed through robot base to upper arm.
n Hollow upper arm maintains optimum bend radius of welding torch cable, maximizing weld performance. T-axis can rotate torch ±200 degrees without cable interference.
n Arm design prevents bent, pinched or stretched cables regardless of torch orientation or part size or shape; minimizes wire feed problems and optimizes weld performance.
n Floor-mounted model is standard. Ceiling- or wall-mounted versions (MA3100T) available.
INTEGRATED UTILITIES
FEEDER GASFEEDER GAS
Payload: 3 kgMounting Options: Ceiling/Wall (MA3100T)
The MA3100 "Master Arc" welding robot features an integrated torch cable and offers the longest reach in its class. It is ideally suited for use in workcells with larger workpieces, as well as for applications that require access to parts in tight spots or thosewithpotentialinterferencefromfixtures.
MA3100 ROBOT
TECHNICAL SPECIFICATIONS SUBJECT TO CHANGE WITHOUT NOTICEDS-446-C ©2012 YASKAWA AMERICA, INC. JUNE 2012
MOTOMAN IS A REGISTERED TRADEMARK WINDOWS IS A REGISTERED TRADEMARK OF MICROSOFT
ALL OTHER MARKS ARE THE TRADEMARKS AND REGISTERED TRADEMARKS OF YASKAWA AMERICA, INC.
All dimensions are metric (mm) and for reference only. Please request detail drawings for all design/engineering requirements.
VIEW B VIEW C
VIEW A
INTERNAL USER CABLE CONNECTORJL05-2A24-28PC (WITH CAP)
MATING CONNECTOR JL05-6A24-28S WILL NOT BE SUPPLIED, BUT CABLES
ARE AVAILABLE AS AN OPTION AIR INLETPT3/8 TAPPED(WITH PLUG)
AIR OUTLETPT3/8 TAPPED(WITH PLUG)
INTERNAL USER CABLE CONNECTORJL05-2A24-28SC (WITH CAP)MATING CONNECTOR JL05-6A24-28P WILL NOT BE SUPPLIED, BUT CABLES ARE AVAILABLE AS AN OPTION
30°6X M4X0.7 x10
Ø6 x6
PCD56Ø90
Ø425
6
Ø42
AVAILABLE RANGE
455 385 320 280
230
400455153
608
195
105
180°
R377
R3121R936Maximum envelope
P-Point
349 253
234234
2X Ø12 THRU
8X Ø22 THRU
195
230
195
195 230
105
40
223.5
4X M12X1.75 x20
175
540
1150
200
100
1990
145 1815200
3121
5952P-POINT
1241
2099
3516
5615
A
C
B
www.motoman.comYASKAWA AMERICA, INC. n MOTOMAN ROBOTICS DIVISION
100 AUTOMATION WAY, MIAMISBURG, OHIO 45342TEL: 937.847.6200 n FAX: 937.847.6277
MA3100 SPECIFICATIONSStructure Vertical jointed-arm typeControlled Axes 6Payload 3 kg (6.6 lbs)Vertical Reach 5,615 mm (221.1")Horizontal Reach 3,121 mm (122.9")Repeatability ±0.15 mm (±0.006")
Maximum Motion Range
S-Axis (Turning) L-Axis (Lower Arm) U-Axis (Upper Arm) R-Axis (Upper Arm Twist) B-Axis (Pitch/Yaw) T-Axis (Twist)
±180° +135°/-90° +251°/-160° ±150° +180°/-45° ±200°
Maximum Speed
S-Axis L-Axis U-Axis R-Axis B-Axis T-Axis
180°/s 178°/s 178°/s 400°/s 410°/s 610°/s
Approximate Mass 501 kg (1,104.7 lbs)Brakes All axesPower Consumption 1.5 kVA
Allowable MomentR-Axis B-Axis T-Axis
8.8N•m 8.8N•m 2.9N•m
Allowable Moment of Inertia
R-Axis B-Axis T-Axis
0.27kg•m2 0.27kg•m2 0.03kg•m2
DX100 CONTROLLER SPECIFICATIONS**Dimensions (mm) 800 (w) x 1,000 (h) x 650 (d) (31.5" x 39.4" x 25.6")Approximate Mass 250 kg max. (551.3 lbs)Cooling System Indirect cooling
Ambient Temperature During operation: 0° to 45° C (32° to 113° F) During transit and storage: -10° to 60° C (14° to 140° F)
Relative Humidity 90% max. non-condensingPrimary Power Requirements 3-phase, 240/480/575 VAC at 50/60 Hz
Digital I/O NPN-Standard PNP-Optional
Standard I/O: 40 inputs/40 outputs consisting of 16 system inputs/ 16 system outputs, 24 user inputs/24 user outputs 32 Transistor Outputs; 8 Relay Outputs Max. I/O (optional): 2,048 inputs and 2,048 outputs
Position Feedback By absolute encoder
Program Memory JOB: 200,000 steps, 10,000 instructions CIO Ladder Standard: 15,000 steps Expanded: 20,000 steps
Pendant Dim. (mm) 169 (w) x 314.5 (h) x 50 (d) (6.7" x 12.4" x 2")Pendant Weight .998 kg (2.2 lbs)Interface One Compact Flash slot; One USB port (1.1)Pendant Playback Buttons
Teach/Play/Remote Keyswitch selector Servo On, Start, Hold, and Emergency Stop Buttons
Programming Language INFORM III, menu-driven programmingMaintenance Functions Displays troubleshooting for alarms, predicts reducer wearNumber of Robots/Axes Up to 8 robots, 72 axesMulti Tasking Up to 16 concurrent jobs, 4 system jobs
Fieldbus DeviceNetMaster/Slave,ABRIO,Profibus,Interbus-S,M-Net,CCLink,EtherNet IP/Slave
Ethernet 10 Base T/100 Base TX
SafetyDual-channel Emergency Stop Pushbuttons, 3-position Enable Switch, Manual Brake Release Meets ANSI/RIA R15.06-1999, ANSI/RIA/ISO 10218-1-2007 and CSA Z434-03
**SeeDX100Controllerdatasheet(DS-399)forcompletespecifications